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<li class="navelem"><a class="el" href="../../d2/d75/namespacecv.html">cv</a></li><li class="navelem"><a class="el" href="../../d9/dfc/namespacecv_1_1kinfu.html">kinfu</a></li><li class="navelem"><a class="el" href="../../d0/d4f/classcv_1_1kinfu_1_1Volume.html">Volume</a></li>  </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p><code>#include &lt;opencv2/rgbd/volume.hpp&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a682e67e0d543207a62a56a2fdce7565c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d4f/classcv_1_1kinfu_1_1Volume.html#a682e67e0d543207a62a56a2fdce7565c">Volume</a> (float _voxelSize, <a class="el" href="../../dc/d84/group__core__basic.html#gaaccfdd6e633076501c97b6ba4e792f53">Matx44f</a> _pose, float _raycastStepFactor)</td></tr>
<tr class="separator:a682e67e0d543207a62a56a2fdce7565c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2f17e05d66970d61d354c3d8c8293cc"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d4f/classcv_1_1kinfu_1_1Volume.html#ac2f17e05d66970d61d354c3d8c8293cc">~Volume</a> ()</td></tr>
<tr class="separator:ac2f17e05d66970d61d354c3d8c8293cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4af6369b78fd00de52616da5c1739a17"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d4f/classcv_1_1kinfu_1_1Volume.html#a4af6369b78fd00de52616da5c1739a17">fetchNormals</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> points, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> _normals) const =0</td></tr>
<tr class="separator:a4af6369b78fd00de52616da5c1739a17"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acade4917aa9753c38660f1227b0c2bf1"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d4f/classcv_1_1kinfu_1_1Volume.html#acade4917aa9753c38660f1227b0c2bf1">fetchPointsNormals</a> (<a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> points, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> normals) const =0</td></tr>
<tr class="separator:acade4917aa9753c38660f1227b0c2bf1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af2b984f2635f5ad48262efc8c3ab910f"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d4f/classcv_1_1kinfu_1_1Volume.html#af2b984f2635f5ad48262efc8c3ab910f">integrate</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> _depth, float depthFactor, const <a class="el" href="../../dc/d84/group__core__basic.html#gaaccfdd6e633076501c97b6ba4e792f53">Matx44f</a> &amp;cameraPose, const <a class="el" href="../../df/ded/structcv_1_1kinfu_1_1Intr.html">kinfu::Intr</a> &amp;intrinsics, const int frameId=0)=0</td></tr>
<tr class="separator:af2b984f2635f5ad48262efc8c3ab910f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93b632ce2eef2b956399716de7c245c9"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d4f/classcv_1_1kinfu_1_1Volume.html#a93b632ce2eef2b956399716de7c245c9">raycast</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#gaaccfdd6e633076501c97b6ba4e792f53">Matx44f</a> &amp;cameraPose, const <a class="el" href="../../df/ded/structcv_1_1kinfu_1_1Intr.html">kinfu::Intr</a> &amp;intrinsics, const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;frameSize, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> points, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> normals) const =0</td></tr>
<tr class="separator:a93b632ce2eef2b956399716de7c245c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a50d100025b86890787e46306f9c0b1e2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d4f/classcv_1_1kinfu_1_1Volume.html#a50d100025b86890787e46306f9c0b1e2">reset</a> ()=0</td></tr>
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Public Attributes</h2></td></tr>
<tr class="memitem:ae144a61b1a93c9dffb6a8220350b1572"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="../../d0/de1/group__core.html#gae10a81cba3f3232648be48e28759a7bc">Affine3f</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d4f/classcv_1_1kinfu_1_1Volume.html#ae144a61b1a93c9dffb6a8220350b1572">pose</a></td></tr>
<tr class="separator:ae144a61b1a93c9dffb6a8220350b1572"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aef964b6790da81febe8b8fd7c104a265"><td class="memItemLeft" align="right" valign="top">const float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d4f/classcv_1_1kinfu_1_1Volume.html#aef964b6790da81febe8b8fd7c104a265">raycastStepFactor</a></td></tr>
<tr class="separator:aef964b6790da81febe8b8fd7c104a265"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2d1eae1cd756a58ff682683730c76ce8"><td class="memItemLeft" align="right" valign="top">const float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d4f/classcv_1_1kinfu_1_1Volume.html#a2d1eae1cd756a58ff682683730c76ce8">voxelSize</a></td></tr>
<tr class="separator:a2d1eae1cd756a58ff682683730c76ce8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a91274c746b03bd766f95c268462d5e1c"><td class="memItemLeft" align="right" valign="top">const float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d4f/classcv_1_1kinfu_1_1Volume.html#a91274c746b03bd766f95c268462d5e1c">voxelSizeInv</a></td></tr>
<tr class="separator:a91274c746b03bd766f95c268462d5e1c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a682e67e0d543207a62a56a2fdce7565c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a682e67e0d543207a62a56a2fdce7565c">&#9670;&nbsp;</a></span>Volume()</h2>

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          <td class="memname">cv::kinfu::Volume::Volume </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>_voxelSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaaccfdd6e633076501c97b6ba4e792f53">Matx44f</a>&#160;</td>
          <td class="paramname"><em>_pose</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>_raycastStepFactor</em>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
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<h2 class="memtitle"><span class="permalink"><a href="#ac2f17e05d66970d61d354c3d8c8293cc">&#9670;&nbsp;</a></span>~Volume()</h2>

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          <td class="memname">virtual cv::kinfu::Volume::~Volume </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a4af6369b78fd00de52616da5c1739a17">&#9670;&nbsp;</a></span>fetchNormals()</h2>

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          <td class="memname">virtual void cv::kinfu::Volume::fetchNormals </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>points</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>_normals</em>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<h2 class="memtitle"><span class="permalink"><a href="#acade4917aa9753c38660f1227b0c2bf1">&#9670;&nbsp;</a></span>fetchPointsNormals()</h2>

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          <td class="memname">virtual void cv::kinfu::Volume::fetchPointsNormals </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>points</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>normals</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<h2 class="memtitle"><span class="permalink"><a href="#af2b984f2635f5ad48262efc8c3ab910f">&#9670;&nbsp;</a></span>integrate()</h2>

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          <td class="memname">virtual void cv::kinfu::Volume::integrate </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>_depth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>depthFactor</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#gaaccfdd6e633076501c97b6ba4e792f53">Matx44f</a> &amp;&#160;</td>
          <td class="paramname"><em>cameraPose</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../df/ded/structcv_1_1kinfu_1_1Intr.html">kinfu::Intr</a> &amp;&#160;</td>
          <td class="paramname"><em>intrinsics</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>frameId</em> = <code>0</code>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<h2 class="memtitle"><span class="permalink"><a href="#a93b632ce2eef2b956399716de7c245c9">&#9670;&nbsp;</a></span>raycast()</h2>

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          <td class="memname">virtual void cv::kinfu::Volume::raycast </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#gaaccfdd6e633076501c97b6ba4e792f53">Matx44f</a> &amp;&#160;</td>
          <td class="paramname"><em>cameraPose</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../df/ded/structcv_1_1kinfu_1_1Intr.html">kinfu::Intr</a> &amp;&#160;</td>
          <td class="paramname"><em>intrinsics</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> &amp;&#160;</td>
          <td class="paramname"><em>frameSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>points</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>normals</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<h2 class="memtitle"><span class="permalink"><a href="#a50d100025b86890787e46306f9c0b1e2">&#9670;&nbsp;</a></span>reset()</h2>

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          <td class="memname">virtual void cv::kinfu::Volume::reset </td>
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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ae144a61b1a93c9dffb6a8220350b1572">&#9670;&nbsp;</a></span>pose</h2>

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          <td class="memname">const <a class="el" href="../../d0/de1/group__core.html#gae10a81cba3f3232648be48e28759a7bc">Affine3f</a> cv::kinfu::Volume::pose</td>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>opencv2/rgbd/<a class="el" href="../../d9/d6b/volume_8hpp.html">volume.hpp</a></li>
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